http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
임피던스 제어를 통한 와이어 플라잉 시스템의 충격력 최소화
최시명,박종길,박재환,박종현,권오홍,원대희 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
This paper proposes Four-Cable-Wire Flying System. When this system performs with hanging biped robot, it is possible to bump into unexpected obstacles or contact to walls or bottom unknown location, resulting in large contact force. Impedance control is proposed to alleviate this contact force. In this work, the impedance control was applied at the level of motion of the bipled robot and the motion of the wires. The comparisons of two different schems are discussed.
金想漢,崔時明 경성대학교 1984 부산수산대학 논문집 Vol.5 No.2
In this experiment we have measured the efficient generation of wavelength-tunable picosecond pulses in the yellow and red spectral regions(570-640nm) in a CW dye laser that is pumped by 514.5nm radiation from an argon ion laser.Operation of the dye laser was achieved with the use of commercial laser dye. With 2w of average pump power, an average output powers of 300 mw was obtained at the peak of the tuning curve.
케이블 드리븐 시스템에 적용된 잉여 자유도를 가진 로봇 팔의 Joint Limit Algorithm에 관한 연구
최시명(See Myoung Choi),임홍석(Hong Seok Lim),최순영(Soon Young Choi) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
This paper proposes the control methods of cable-driven redundant robot arm. The focus of our study is to use null-space of redundant robot arm driven by cable. By using null-space of redundant robot arm system, Joint Limit Avoidance Algorithm for the robot arm is studied to prevent that a certain joint angle exceeds certain angle range by minimizing cost function. Also, impedance control for the robot arm is proposed to alleviate the contact forces from external environment. The effectiveness and the performance of the proposed control algorithm are shown in computer simulation.